CN103318381B - An autonomous mobile monitoring buoy and its monitoring method - Google Patents

Abstract

The invention discloses an autonomous mobile monitoring buoy and a monitoring method thereof, wherein the buoy comprises a circular disc-shaped shell, a sealing shell, a control system, a communication navigation system, a driving system, a sensor system and an energy system, the control system is respectively connected with the communication navigation system, the driving system, the sensor system and the energy system, the circular disc-shaped shell is divided into an upper shell and a lower shell, and a cavity is formed between the upper shell and the lower shell. The invention adopts the shape of a revolution surface for the appearance of the circular disc-shaped shell, has larger design of the radius-thickness ratio and excellent operation flexibility, can realize the steering motion with 0 revolution radius, improves the lift-drag ratio of the sliding motion of the buoy by the design of the large radius-thickness ratio, and can realize larger horizontal displacement motion in a shallower water area. The small curvature design of the upper surface of the round dish-shaped shell effectively improves the power generation efficiency of the solar cell panel. The invention can effectively prolong the continuous operation time of the circular-disk-shaped autonomous mobile monitoring buoy.

Description

An autonomous mobile monitoring buoy and its monitoring method

technical field

The invention relates to a technology for tracking and monitoring water surface pollutants, in particular to an autonomously mobile monitoring buoy and a monitoring method thereof.

Background technique

At present, the long-term continuous monitoring of the hydrological environment and water pollutants is mainly completed by buoys equipped with various sensors. There are two types of buoys: fixed and mobile. The fixed buoys are mostly anchored and fixed to perform water body monitoring tasks at designated locations, and do not have the ability to maneuver. The mobile buoys are divided into passive and active. Passive floating buoys are not installed The power system can only float freely on the water surface or in the water, complete the positioning of the buoy itself through the communication and navigation system, and transmit the coordinate data back to the ground monitoring center. Mature products in the United States, the Netherlands, Canada and other countries have been widely used in marine environment monitoring, etc. field, but this type of buoy does not have the ability to specify a location to perform detection tasks, nor does it have the ability to receive instructions to change the monitoring location. The active buoy is equipped with a control and power system, which can independently control the movement of the buoy and move according to the set movement route, so as to realize the dynamic monitoring of the designated water area and the accurate tracking of pollutants. The underwater glider is an active buoy. Many countries have researched in this field. The United States has relatively mature products used in underwater environment monitoring, but it is mainly used in long-distance and large-scale operations in deep sea areas. The reason is that it is driven by underwater glider. Mechanism, the horizontal acceleration of its underwater movement is generated by the horizontal component force of the hydrodynamic force received by the vertical movement, and the size of the hydrodynamic force is related to the movement speed, so only when the vertical movement speed is fast can the ideal horizontal movement driving force be produced , the prerequisite for the underwater glider to move horizontally for a certain distance is that there is enough travel in the direction of water depth. Generally, the steering motion of an underwater glider is completed through a spiral trajectory, which has a large radius of gyration and poor maneuverability, and it is difficult to achieve short-distance purposeful movement that requires high motion control. Therefore, at this stage, its application scope is limited to deep-water long-distance and large-scale ocean monitoring tasks. When performing such tasks, underwater glider has obvious advantages in energy saving. Its energy supply depends entirely on high-energy batteries, and no midway energy supplement is required. The communication of the underwater glider mainly relies on radio or ARGO satellite, and the distance of radio communication is relatively short, while the communication of ARGO satellite is intermittent, and it can only communicate once every about 4 hours, so it is difficult to implement more precise control.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the present invention designs an autonomous mobile monitoring buoy and its monitoring method that can perform long-term continuous monitoring tasks in designated locations, designated smaller water body ranges, and shallow waters.

In order to achieve the above object, the technical scheme of the present invention is as follows:

An autonomous mobile monitoring buoy comprises a disc-shaped shell, a sealed shell, a control system, a communication and navigation system, a drive system, a sensor system and an energy system, and the control system is respectively connected with the communication and navigation system, the drive system, the sensor system and the Energy system connection, the shape of the disc-shaped shell is a surface of revolution, the top view is circular, the side view is streamlined, the maximum diameter of the shell is more than twice the maximum height; the disc-shaped shell is divided into an upper shell and a lower part The shell, the upper shell and the lower shell are connected by bolts, and a cavity is formed inside; a sealed shell is arranged inside the disc-shaped shell, and the sealed shell is a watertight space; oil is set between the disc-shaped shell and the sealed shell. The oil bladder and the oil bladder are connected with the electric-driven hydraulic cylinder in the sealed shell through the oil pipe; the water inlet hole is arranged on the disc-shaped shell, and the non-watertight space between the disc-shaped shell and the sealed shell is connected with the water body outside the disc-shaped shell; The drive system includes a buoyancy adjustment module and a center of gravity adjustment module; the buoyancy adjustment module is composed of an electric drive hydraulic module a and an electric drive hydraulic module b; the electric drive hydraulic module a is composed of an electric drive hydraulic cylinder a and an oil bag, The electric-driven hydraulic module b is composed of an electric-driven hydraulic cylinder b and an oil bag; the electric-driven hydraulic cylinder a is arranged in parallel with the electric-driven hydraulic cylinder b, and the pistons of the electric-driven hydraulic cylinder a and the electric-driven hydraulic cylinder b are pushed in opposite directions; The center of gravity adjustment module is composed of an electric drive slider module a and an electric drive slider module b; the energy system includes an energy storage battery and a solar panel; the solar panel is installed on the upper surface of the disc-shaped shell; the The sensor system includes a water pressure sensor, a water temperature sensor, an electronic compass, an inclination sensor and an acceleration sensor. The electronic compass, the inclination sensor and the acceleration sensor are installed in the sealed shell, and the water pressure sensor and the water temperature sensor are installed outside the sealed shell;

The communication and navigation system includes a satellite antenna, a navigation and positioning module, and a short message communication module, which are responsible for receiving instructions from the command center and then transmitting them to the control system; accepting the instructions of the control system at the same time, the position of the buoy is sent by the short message communication module. Information, monitoring data, etc. are sent back to the command center;

The control system controls the communication system to receive satellite navigation positioning and instructions, and interprets the instructions received by the communication and navigation system; the control system controls the center of gravity adjustment module and the buoyancy adjustment module of the drive system to implement center of gravity adjustment and buoyancy adjustment; According to the energy storage status and operation needs of the energy battery feedback, the energy-saving management of the energy system is implemented, so that the energy system uses solar panels to store energy when the energy system is on the water surface, and realizes the switching between the standby power-saving mode and the normal working mode of the energy system; The control system controls the sensor system to collect data and accepts the data feedback from the sensor system;

Both the electric-driven hydraulic module a and the electric-driven hydraulic module b use a stepping motor to push the piston, hydraulically inject the oil in the hydraulic cylinder into the oil bag outside the sealed shell, or suck the oil in the oil bag into the hydraulic oil cylinder , so as to increase or decrease the displacement volume of the disc-shaped self-moving monitoring buoy and adjust the net buoyancy;

Both the electric-driven hydraulic module a and the electric-driven hydraulic module b use a stepping motor to push the piston,

The center-of-gravity adjustment module includes an electric drive slider module a and an electric drive slider module b, which are arranged vertically to each other;

The electric drive slider module a and the electric drive slider module b use a stepping motor to push the mass block to move linearly, so as to realize the center of gravity movement of the center of gravity of the disc-shaped self-moving monitoring buoy in one direction;

The communication and navigation system includes an embedded Beidou satellite antenna, a satellite navigation positioning module and a short message communication module; the communication and navigation system receives the Beidou satellite system signal, and returns data to the command center through the Beidou satellite system to realize the Beidou satellite short report Text communication and navigation and positioning functions;

The control system embedded with an embedded operating system is responsible for navigation control, data collection control and management, navigation positioning and communication control, power management, path planning and fault diagnosis.

The upper surface of the disc-shaped shell of the present invention has a smaller curvature to facilitate the installation of solar panels and obtain higher power generation efficiency.

The disc-shaped shell of the present invention is made of fiberglass or plastic.

The disc-shaped shell of the present invention is made of lightweight corrosion-resistant alloy material.

The solar battery panel described in the present invention is an amorphous silicon solar battery panel or a monocrystalline silicon solar battery panel or a polycrystalline silicon solar battery panel or a multi-component solar battery panel.

A method for monitoring a disc-shaped self-moving monitoring buoy, comprising the following steps:

A. Put the disc-shaped self-moving monitoring buoy into the designated water area, and start the various systems on the disc-shaped self-moving monitoring buoy;

B. Accept the instructions from the ground command center through the communication and navigation system, formulate the movement path, and send instructions to the buoyancy adjustment module and center of gravity adjustment module of the drive system from the control system to drive the disc-shaped autonomous mobile monitoring buoy to move in the water;

C. Start the water pressure sensor and water temperature sensor of the sensor system regularly or at a specified depth, obtain monitoring data and store the monitoring data;

D. After the disc-shaped autonomous mobile monitoring buoy completes the data collection task, it floats to the water surface, transmits the monitoring data to the ground command center through the short message communication module of the communication navigation system, and starts the solar panel to charge the energy storage battery. Accept the next action instructions from the command center.

Compared with the prior art, the present invention has the following beneficial effects:

1. Since the outer shape of the disc-shaped shell of the present invention adopts the shape of the surface of revolution, the design of the diameter-thickness ratio is relatively large, the flexibility of its manipulation is excellent, and the steering movement with a radius of 0 revolution can be realized, and the design of the large diameter-thickness ratio improves the sliding movement of the buoy. The lift-to-drag ratio can realize large horizontal displacement movement in shallower waters. The small curvature design of the upper surface of the disc-shaped shell can effectively improve the power generation efficiency of the solar panel.

2. Since the present invention lays solar panels on the upper surface of the disc-shaped shell, the disc-shaped self-moving monitoring buoy can realize self-replenishment of energy when floating on the water surface, effectively increasing the continuous operation time of the disc-shaped self-moving monitoring buoy .

3. Since the present invention adopts the Beidou communication and navigation system to realize the positioning, navigation, communication and control functions of the buoy, the real-time performance of information and control is effectively improved; at the same time, it is beneficial to build a command center and a plurality of monitoring disc-shaped autonomously mobile monitoring buoys Monitoring System.

4. The invention has small horizontal motion resistance, large lift-to-drag ratio, and extremely high maneuverability, greatly reduces the energy consumption of maneuvering and steering in small water areas, and improves the completion speed of maneuvering and steering motions. With the installation of solar power generation equipment, the energy consumption of monitoring tasks can be supplemented, and long-term uninterrupted monitoring tasks can be performed. Install a two-way communication module in order to accept the command and control of the monitoring center, implement precise control, and return the position and monitoring data.

Description of drawings

The present invention has 3 accompanying drawings, wherein:

Figure 1 is a top view of the structure of a disc-shaped self-moving monitoring buoy.

Fig. 2 is a side view of the structure of the disc-shaped self-moving monitoring buoy.

Fig. 3 is a schematic diagram of a disc-shaped self-moving monitoring buoy control circuit.

In the figure: 1. Solar panel, 2. Disc-shaped shell, 3. Sealed shell, 4. Oil pipe, 5. Oil bag, 6. Water inlet hole, 7. Water pressure sensor, 8. Water temperature sensor, 9. Electric Drive slider module a, 10, electric drive slider module b, 11, electric drive hydraulic cylinder a, 12, electric drive hydraulic cylinder b, 13, control system, 14, electronic compass, 15, inclination sensor, 16, acceleration sensor , 17. Navigation and positioning module, 18. Energy storage battery, 19. Short message communication module, 20. Satellite antenna, 21. Buoyancy adjustment module, 22. Center of gravity adjustment module, 23. Communication and navigation system, 24. Sensor system, 25 . Energy system, 26. Drive system, 27. Electric drive hydraulic module a, 28. Electric drive hydraulic module b.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. As shown in Figures 1-3, an autonomous mobile monitoring buoy includes a disc-shaped shell 2, a sealed shell 3, a control system 13, a communication and navigation system 23, a drive system 26, a sensor system 24 and an energy system 25, the described The control system 13 is respectively connected with the communication navigation system 23, the drive system 26, the sensor system 24 and the energy system 25. The outer shape of the disc-shaped shell 2 is a shape of a surface of revolution, the top view is circular, and the side view is streamlined. The maximum diameter is more than twice the maximum height; the disc-shaped shell is divided into an upper shell and a lower shell, and the upper shell and the lower shell are connected by bolts, forming a cavity inside; the disc-shaped shell 2 is set inside Sealed shell 3, the inside of which is a watertight space; an oil bag 5 is set between the disc-shaped shell 2 and the sealed shell 3, and the oil bag 5 communicates with the electric drive hydraulic cylinder in the sealed shell 3 through the oil pipe 4; the disc-shaped shell 2 is arranged with a water inlet 6 to connect the non-watertight space between the disc-shaped shell 2 and the sealed shell 3 with the water body outside the disc-shaped shell 2; the drive system 26 includes a buoyancy adjustment module 21 and a center of gravity adjustment module 22 The buoyancy adjustment module 21 is composed of an electric drive hydraulic module a27 and an electric drive hydraulic module b28; the electric drive hydraulic module a27 is composed of an electric drive hydraulic cylinder a11 and an oil bag 5, and the electric drive hydraulic module b28 is composed of an electric drive hydraulic module b28; The hydraulic cylinder b12 and the oil bag 5 are composed; the electric drive hydraulic cylinder a11 and the electric drive hydraulic cylinder b12 are arranged in parallel, and the pistons of the electric drive hydraulic cylinder a11 and the electric drive hydraulic cylinder b12 are propelled in opposite directions; the center of gravity adjustment module 22 is controlled by the electric drive The slider module a9 and the electric drive slider module b10 are composed; the energy system 25 includes an energy storage battery 18 and a solar panel 1; the solar panel 1 is installed on the upper surface of the disc-shaped housing 2; the sensor system 24 comprises water pressure sensor 7, water temperature sensor 8, electronic compass 14, inclination sensor 15 and acceleration sensor 16, and described electronic compass 14, inclination sensor 15 and acceleration sensor 16 are installed in the sealed shell 3, water pressure sensor 7 and water temperature The sensor 8 is installed outside the sealed casing 3;

Described communication navigation system 23 comprises satellite antenna 20, navigation positioning module 17, short message communication module 19, after being responsible for receiving the instruction of command center, transmits to control system 13; Accept the instruction of control system 13 simultaneously, pass short message The communication module 19 returns the position information, monitoring data, etc. of the buoy to the command center;

The control system 13 controls the communication system to receive satellite navigation positioning and instructions, and interprets the instructions received by the communication and navigation system 23; the control system 13 controls the center of gravity adjustment module 22 and the buoyancy adjustment module 21 of the drive system 26 to implement the plane adjustment of the center of gravity and the adjustment of buoyancy Adjustment; the control system 13 implements energy-saving management of the energy system 25 according to the energy storage status and operation needs of the feedback of the energy storage battery 18, so that the energy system 25 utilizes the solar panel 1 to store energy when the energy storage battery 18 is on the water surface, and realizes energy storage of the energy system 25. Switching between standby power-saving mode and normal working mode; control system 13 controls sensor system 24 to collect data, and accepts data feedback from sensor system 24;

The electric-driven hydraulic module a27 and the electric-driven hydraulic module b28 both use a stepping motor to push the piston, hydraulically inject the oil in the hydraulic cylinder into the oil bag 5 outside the sealed shell 3, or suck the oil in the oil bag 5 into the In the hydraulic cylinder, so as to increase or decrease the drainage volume of the disc-shaped self-moving monitoring buoy and adjust the net buoyancy;

Both the electric drive hydraulic module a27 and the electric drive hydraulic module b28 use a stepping motor to push the piston,

The center of gravity adjustment module 22 includes an electric drive slider module a9 and an electric drive slider module b10, which are arranged vertically to each other;

The electric drive slider module a9 and the electric drive slider module b10 use a stepping motor to push the mass block to move linearly, so as to realize the center of gravity movement of the center of gravity of the disc-shaped self-moving monitoring buoy in one direction;

The communication and navigation system 23 includes an embedded Beidou satellite antenna 20, a satellite navigation positioning module 17 and a short message communication module 19; the communication and navigation system 23 receives the Beidou satellite system signal, and returns data to the command center through the Beidou satellite system, Realize Beidou satellite short message communication and navigation and positioning functions;

The control system 13 is embedded with an embedded operating system, responsible for navigation control, data acquisition control and management, navigation and positioning and communication control, power management, path planning and fault diagnosis.

The curvature of the upper surface of the disc-shaped casing 2 of the present invention is relatively small, so as to facilitate the installation of the solar cell panel 1 and obtain higher power generation efficiency.

The disc-shaped shell 2 of the present invention is made of fiberglass or plastic.

The disc-shaped casing 2 of the present invention is made of a lightweight corrosion-resistant alloy material.

The solar cell panel 1 described in the present invention is an amorphous silicon solar cell panel 1 or a monocrystalline silicon solar cell panel 1 or a polycrystalline silicon solar cell panel 1 or a multi-component compound solar cell panel 1 .

A method for monitoring a disc-shaped self-moving monitoring buoy, comprising the following steps:

A. Put the disc-shaped self-moving monitoring buoy into the designated water area, and start the various systems on the disc-shaped self-moving monitoring buoy;

B. Accept the instructions from the ground command center through the communication and navigation system 23, formulate the movement path, and send instructions to the buoyancy adjustment module 21 and the center of gravity adjustment module 22 of the drive system 26 by the control system 13 to drive the disc-shaped autonomously mobile monitoring buoy in the water sports;

C. Start the water pressure sensor 7 and the water temperature sensor 8 of the sensor system 24 at regular intervals or at a designated depth, obtain monitoring data and store the monitoring data;

D. After the disc-shaped self-moving monitoring buoy completes the data collection task, it floats to the water surface, transmits the monitoring data to the ground command center through the short message communication module 19 of the communication navigation system 23, and starts the solar panel 1 pair of energy storage batteries 18 to charge and accept the next action instruction from the command center.

Claims (6)

1. an autonomous formula monitering buoy, it is characterized in that: comprise disc-shaped shell (2), capsul (3), control system (13), communication and navigation system (23), drive system (26), sensing system (24) and energy resource system (25), described control system (13) respectively with communication and navigation system (23), drive system (26), sensing system (24) is connected with energy resource system (25), the profile of described disc-shaped shell (2) is a surface of revolution shape, birds-eye view is rounded, lateral plan is stream line pattern, the maximum gauge of shell is more than 2 times of maximum height, disc-shaped shell (2) point upper body and lower case, adopt bolt to connect between upper body and lower case, inner formation cavity, disc-shaped shell (2) inside arranges capsul (3), is watertight space in capsul (3), between disc-shaped shell (2) and capsul (3), arrange oil sac (5), oil sac (5) and capsul (3) interior electricity are driven ram pot and are communicated with by oil pipe (4), disc-shaped shell (2) is arranged inlet opening (6), the non-watertight space between disc-shaped shell (2) and capsul (3) is communicated with disc-shaped shell (2) water body outward, described drive system (26) comprises buoyancy adjustment module (21) and center of gravity adjustment module (22), described buoyancy adjustment module (21) is driven hydraulic module a (27) and electricity by electricity and is driven hydraulic module b (28) and form, described electricity drives hydraulic module a (27) and drives hydraulic actuating cylinder a (11) by electricity and oil sac (5) forms, and described electricity drives hydraulic module b (28) and drives hydraulic actuating cylinder b (12) by electricity and oil sac (5) forms, electricity drives hydraulic actuating cylinder a (11) and electricity and drives hydraulic actuating cylinder b (12) and be arranged in parallel, and electricity to drive hydraulic actuating cylinder a (11) contrary with the piston direction of propulsion that electricity drives hydraulic actuating cylinder b (12), described center of gravity adjustment module (22) is driven slide block module a (9) and electricity by electricity and is driven slide block module b (10) and form, described energy resource system (25) comprises energy storage battery (18) and solar panel (1), described solar panel (1) is arranged on the upper surface of disc-shaped shell (2), described sensing system (24) comprises hydraulic pressure sensor (7), cooling-water temperature sensor (8), electronic compass (14), obliquity sensor (15) and acceleration pick-up (16), described electronic compass (14), obliquity sensor (15) and acceleration pick-up (16) are arranged in capsul (3), and hydraulic pressure sensor (7) and cooling-water temperature sensor (8) are arranged on capsul (3) outward,

Described communication and navigation system (23) comprises satellite antenna (20), navigation positioning module (17), short message communication module (19), after being responsible for the instruction of reception command centre, be sent to control system (13); Accept the instruction of control system (13), by short message communication module (19) by the location information of buoy, monitoring data passback command centre simultaneously;

Described control system (13) controls communication system and receives satellite navigation location and instruction, understands the instruction that communication and navigation system (23) receives; The center of gravity adjustment module (22) of control system (13) control-driven system (26) and buoyancy adjustment module (21) implement the plane regulating of center of gravity and the adjustment of buoyancy; Control system (13) needs according to the energy accumulating state of the feedback of energy storage battery (18) and operation, implement the administration of energy conservation to energy resource system (25), make energy resource system (25) utilize when the water surface solar panel (1) to carry out accumulation of energy, and realize the standby power mode of energy resource system (25) and the switching of normal mode of operation; Control system (13) controls sensing system (24) image data, and accepts the data feedback of sensing system (24);

Described electricity drives hydraulic module a (27) and electricity and drives hydraulic module b (28) and all adopt stepping motor to promote piston, fluid in hydraulic ram is compressed into capsul (3) oil sac outward (5), or by the oily inspiration hydraulic ram in oil sac (5), thus reach the displacement of volume increasing or reduce disc-shaped autonomous formula monitering buoy, regulate the object of net buoyancy;

Described electricity drives hydraulic module a (27) and electricity and drives hydraulic module b (28) and all adopt stepping motor to promote piston,

Described center of gravity adjustment module (22) comprises electricity and drives slide block module a (9) and electricity drives slide block module b (10), and both are arranged vertically mutually;

Described electricity drives slide block module a (9) and electricity drives slide block module b (10) employing stepping motor promotion mass straight-line motion, realizes disc-shaped autonomous formula monitering buoy center of gravity gravity motion in one direction;

Described communication and navigation system (23) comprises embedded big-dipper satellite antenna (20), satellite navigation locating module (17) and short message communication module (19); Communication and navigation system (23) receives Beidou satellite system signal, and by Beidou satellite system to command centre's return data, realizes the communication of big-dipper satellite short message and navigation locating function;

Described control system (13) embedded embedded OS, is responsible for navigation control, data acquisition control and management, navigator fix and communication control, power management, path planning and trouble diagnosing.

2. a kind of autonomous formula monitering buoy according to claim 1, it is characterized in that: the upper surface curvature of described disc-shaped shell (2) is less, be beneficial to the installation of solar panel (1), and obtain higher generating efficiency.

3. a kind of autonomous formula monitering buoy according to claim 1, is characterized in that: described disc-shaped shell (2) is by glass-felt plastic or plastic production.

4. a kind of autonomous formula monitering buoy according to claim 1, is characterized in that: described disc-shaped shell (2) is made by light anticorrosive alloy material.

5. a kind of autonomous formula monitering buoy according to claim 1, is characterized in that: described solar panel (1) is non-crystal silicon solar cell plate or single-crystalline-silicon solar-cell panel or polysilicon solar cell plate or multi-element compounds solar panel.

6. a monitoring method for disc-shaped autonomous formula monitering buoy, is characterized in that: comprise the following steps:

A, disc-shaped autonomous formula monitering buoy rendered to and specifies waters, and start each system on disc-shaped autonomous formula monitering buoy;

B, accepted the instruction of ground command center by communication and navigation system (23), formulate motion path, send instruction by control system (13) to the buoyancy adjustment module (21) of drive system (26) and center of gravity adjustment module (22), drive disc-shaped autonomous formula monitering buoy at underwater exercise;

The hydraulic pressure sensor (7) of C, timing or designated depth start sensor system (24) and cooling-water temperature sensor (8), obtain monitoring data and also store monitoring data;

After D, disc-shaped autonomous formula monitering buoy data acquisition task, float up to the water surface, monitoring data is sent to ground command center by the short message communication module (19) of communication and navigation system (23), start solar panel (1) to charge to energy storage battery (18), accept next step action order of command centre.